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Dependencies:   mbed QEI beep

encoders.cpp@0:7a97ebb833eb, 2019-05-05 (annotated)

Committer:
rzalog
Date:
Sun May 05 00:02:11 2019 +0000
Revision:
0:7a97ebb833eb
test commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rzalog 0:7a97ebb833eb 1 #include "encoders.h"
rzalog 0:7a97ebb833eb 2 #include "pins.h"
rzalog 0:7a97ebb833eb 3 #include "globals.h"
rzalog 0:7a97ebb833eb 4 #include "mbed.h"
rzalog 0:7a97ebb833eb 5 #include "QEI.h"
rzalog 0:7a97ebb833eb 6
rzalog 0:7a97ebb833eb 7 /***
rzalog 0:7a97ebb833eb 8 * Assignment 2
rzalog 0:7a97ebb833eb 9 *
rzalog 0:7a97ebb833eb 10 * Import the QEI in order to have functioning encoders.
rzalog 0:7a97ebb833eb 11 ***/
rzalog 0:7a97ebb833eb 12 QEI wheel_R(ENC_RB, ENC_RF, NC, 624, QEI::X4_ENCODING);
rzalog 0:7a97ebb833eb 13 QEI wheel_L(ENC_LF, ENC_LB, NC, 624, QEI::X4_ENCODING);
rzalog 0:7a97ebb833eb 14
rzalog 0:7a97ebb833eb 15 ///////
rzalog 0:7a97ebb833eb 16 // Encoder class implementation
rzalog 0:7a97ebb833eb 17 ///////
rzalog 0:7a97ebb833eb 18
rzalog 0:7a97ebb833eb 19 Encoder::Encoder() {
rzalog 0:7a97ebb833eb 20 reset();
rzalog 0:7a97ebb833eb 21 }
rzalog 0:7a97ebb833eb 22
rzalog 0:7a97ebb833eb 23 void Encoder::reset() volatile {
rzalog 0:7a97ebb833eb 24 m_countR = 0;
rzalog 0:7a97ebb833eb 25 m_countL = 0;
rzalog 0:7a97ebb833eb 26 wheel_R.reset();
rzalog 0:7a97ebb833eb 27 wheel_L.reset();
rzalog 0:7a97ebb833eb 28 }
rzalog 0:7a97ebb833eb 29
rzalog 0:7a97ebb833eb 30 void Encoder::update() volatile {
rzalog 0:7a97ebb833eb 31 m_countR = wheel_R.getPulses();
rzalog 0:7a97ebb833eb 32 m_countL = wheel_L.getPulses();
rzalog 0:7a97ebb833eb 33 }
rzalog 0:7a97ebb833eb 34
rzalog 0:7a97ebb833eb 35 int Encoder::right() volatile {
rzalog 0:7a97ebb833eb 36 return wheel_R.getPulses();
rzalog 0:7a97ebb833eb 37 }
rzalog 0:7a97ebb833eb 38
rzalog 0:7a97ebb833eb 39 int Encoder::left() volatile {
rzalog 0:7a97ebb833eb 40 return wheel_L.getPulses();
rzalog 0:7a97ebb833eb 41 }
rzalog 0:7a97ebb833eb 42
rzalog 0:7a97ebb833eb 43 void Encoder::printValues() volatile {
rzalog 0:7a97ebb833eb 44 // Serial pc(TX, RX);
rzalog 0:7a97ebb833eb 45 pc.printf("R: %d\tL: %d\n", right(), left());
rzalog 0:7a97ebb833eb 46 }